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Date of Publication:2016-01-01

Journal:机电工程技术

Issue:9

Page Number:17-20

ISSN No.:1009-9492

Abstract:Triaxial Helmholtz coils can superimpose spatial universal rotating magnetic field, which is potential to drive the robot in curved environment. When the frequency of driving current increases, the inductance of coils increases, the magnetic field becomes smaller and accuracy of its orientation becomes lower, so we build the negative feedback controlling system based on the DSP chip, which enhances accuracy and stability of rotating magnetic field. According to equivalent circuit of the driving system, we obtain differential equation,transfer function and roots of characteristic equation,which demonstrates that the system is stable. The ratios of the inductance to the resistance of three coils are equal, thus the lag angles and time constants of three coils are equal to each other respectively,which makes sure that the failure rate of system is reduced,and the efficiency and safety are improved.

Note:新增回溯数据